Robust sliding mode control of non-linear systems with delay: a design via polytopic formulation
A class of nonlinear uncertain control systems with a single, possibly time-varying, state-delay is considered. First, the system is decomposed into a nonlinear combination of linear models whose weighting coefficients satisfy a convex property. Next, under suitable assumptions, a sliding mode controller is proposed. The optimization procedure for the choice of the sliding surface is expressed in terms of linear matrix inequalities. The asymptotic stability of the reduced system is proved by using the Lyapunov-Krasovskij functional (for the case of a constant and known delay) or the Lyapunov-Razumikhin function (for the case of an unknown, varying but bounded delay). An illustrative example is also presented.
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